void srdf::Model::loadPassiveJoints(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml)
{
for (TiXmlElement* c_xml = robot_xml->FirstChildElement("passive_joint"); c_xml; c_xml = c_xml->NextSiblingElement("passive_joint"))
{
const char *name = c_xml->Attribute("name");
if (!name)
{
logError("No name specified for passive joint. Ignoring.");
continue;
}
PassiveJoint pj;
pj.name_ = boost::trim_copy(std::string(name));
// see if a virtual joint was marked as passive
bool vjoint = false;
for (std::size_t i = 0 ; !vjoint && i < virtual_joints_.size() ; ++i)
if (virtual_joints_[i].name_ == pj.name_)
vjoint = true;
if (!vjoint && !urdf_model.getJoint(pj.name_))
{
logError("Joint '%s' marked as passive is not known to the URDF. Ignoring.", name);
continue;
}
passive_joints_.push_back(pj);
}
}
bool treeToUrdfModel(const KDL::Tree& tree, const std::string & robot_name, urdf::ModelInterface& robot_model)
{
robot_model.clear();
robot_model.name_ = robot_name;
//Add all links
KDL::SegmentMap::iterator seg;
KDL::SegmentMap segs;
KDL::SegmentMap::const_iterator root_seg;
root_seg = tree.getRootSegment();
segs = tree.getSegments();
for( seg = segs.begin(); seg != segs.end(); seg++ ) {
if (robot_model.getLink(seg->first))
{
std::cerr << "[ERR] link " << seg->first << " is not unique." << std::endl;
robot_model.clear();
return false;
}
else
{
urdf::LinkPtr link;
resetPtr(link, new urdf::Link);
//add name
link->name = seg->first;
//insert link
robot_model.links_.insert(make_pair(seg->first,link));
std::cerr << "[DEBUG] successfully added a new link " << link->name << std::endl;
}
//inserting joint
//The fake root segment has no joint to add
if( seg->first != root_seg->first ) {
KDL::Joint jnt;
jnt = GetTreeElementSegment(seg->second).getJoint();
if (robot_model.getJoint(jnt.getName()))
{
std::cerr << "[ERR] joint " << jnt.getName() << " is not unique." << std::endl;
robot_model.clear();
return false;
}
else
{
urdf::JointPtr joint;
urdf::LinkPtr link = robot_model.links_[seg->first];
//This variable will be set by toUrdf
KDL::Frame H_new_old_successor;
KDL::Frame H_new_old_predecessor = getH_new_old(GetTreeElementSegment(GetTreeElementParent(seg->second)->second));
urdf::resetPtr(joint, new urdf::Joint());
//convert joint
*joint = toUrdf(jnt, GetTreeElementSegment(seg->second).getFrameToTip(),H_new_old_predecessor,H_new_old_successor);
//insert parent
joint->parent_link_name = GetTreeElementParent(seg->second)->first;
//insert child
joint->child_link_name = seg->first;
//insert joint
robot_model.joints_.insert(make_pair(seg->first,joint));
std::cerr << "[DEBUG] successfully added a new joint" << jnt.getName() << std::endl;
//add inertial, taking in account an eventual change in the link frame
resetPtr(link->inertial, new urdf::Inertial());
*(link->inertial) = toUrdf(H_new_old_successor * GetTreeElementSegment(seg->second).getInertia());
}
}
}
// every link has children links and joints, but no parents, so we create a
// local convenience data structure for keeping child->parent relations
std::map<std::string, std::string> parent_link_tree;
parent_link_tree.clear();
// building tree: name mapping
//try
//{
robot_model.initTree(parent_link_tree);
//}
/*
catch(ParseError &e)
{
logError("Failed to build tree: %s", e.what());
robot_model.clear();
return false;
}*/
// find the root link
//try
//{
robot_model.initRoot(parent_link_tree);
//}
/*
catch(ParseError &e)
{
logError("Failed to find root link: %s", e.what());
robot_model.reset();
return false;
}
*/
return true;
}
void srdf::Model::loadGroups(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml)
{
for (TiXmlElement* group_xml = robot_xml->FirstChildElement("group"); group_xml; group_xml = group_xml->NextSiblingElement("group"))
{
const char *gname = group_xml->Attribute("name");
if (!gname)
{
logError("Group name not specified");
continue;
}
Group g;
g.name_ = std::string(gname); boost::trim(g.name_);
// get the links in the groups
for (TiXmlElement* link_xml = group_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
{
const char *lname = link_xml->Attribute("name");
if (!lname)
{
logError("Link name not specified");
continue;
}
std::string lname_str = boost::trim_copy(std::string(lname));
if (!urdf_model.getLink(lname_str))
{
logError("Link '%s' declared as part of group '%s' is not known to the URDF", lname, gname);
continue;
}
g.links_.push_back(lname_str);
}
// get the joints in the groups
for (TiXmlElement* joint_xml = group_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
{
const char *jname = joint_xml->Attribute("name");
if (!jname)
{
logError("Joint name not specified");
continue;
}
std::string jname_str = boost::trim_copy(std::string(jname));
if (!urdf_model.getJoint(jname_str))
{
bool missing = true;
for (std::size_t k = 0 ; k < virtual_joints_.size() ; ++k)
if (virtual_joints_[k].name_ == jname_str)
{
missing = false;
break;
}
if (missing)
{
logError("Joint '%s' declared as part of group '%s' is not known to the URDF", jname, gname);
continue;
}
}
g.joints_.push_back(jname_str);
}
// get the chains in the groups
for (TiXmlElement* chain_xml = group_xml->FirstChildElement("chain"); chain_xml; chain_xml = chain_xml->NextSiblingElement("chain"))
{
const char *base = chain_xml->Attribute("base_link");
const char *tip = chain_xml->Attribute("tip_link");
if (!base)
{
logError("Base link name not specified for chain");
continue;
}
if (!tip)
{
logError("Tip link name not specified for chain");
continue;
}
std::string base_str = boost::trim_copy(std::string(base));
std::string tip_str = boost::trim_copy(std::string(tip));
if (!urdf_model.getLink(base_str))
{
logError("Link '%s' declared as part of a chain in group '%s' is not known to the URDF", base, gname);
continue;
}
if (!urdf_model.getLink(tip_str))
{
logError("Link '%s' declared as part of a chain in group '%s' is not known to the URDF", tip, gname);
continue;
}
bool found = false;
boost::shared_ptr<const urdf::Link> l = urdf_model.getLink(tip_str);
std::set<std::string> seen;
while (!found && l)
{
seen.insert(l->name);
if (l->name == base_str)
found = true;
else
l = l->getParent();
}
if (!found)
{
l = urdf_model.getLink(base_str);
while (!found && l)
{
if (seen.find(l->name) != seen.end())
found = true;
else
l = l->getParent();
}
}
if (found)
g.chains_.push_back(std::make_pair(base_str, tip_str));
else
logError("Links '%s' and '%s' do not form a chain. Not included in group '%s'", base, tip, gname);
}
// get the subgroups in the groups
for (TiXmlElement* subg_xml = group_xml->FirstChildElement("group"); subg_xml; subg_xml = subg_xml->NextSiblingElement("group"))
{
const char *sub = subg_xml->Attribute("name");
if (!sub)
{
logError("Group name not specified when included as subgroup");
continue;
}
g.subgroups_.push_back(boost::trim_copy(std::string(sub)));
}
if (g.links_.empty() && g.joints_.empty() && g.chains_.empty() && g.subgroups_.empty())
logWarn("Group '%s' is empty.", gname);
groups_.push_back(g);
}
// check the subgroups
std::set<std::string> known_groups;
bool update = true;
while (update)
{
update = false;
for (std::size_t i = 0 ; i < groups_.size() ; ++i)
{
if (known_groups.find(groups_[i].name_) != known_groups.end())
continue;
if (groups_[i].subgroups_.empty())
{
known_groups.insert(groups_[i].name_);
update = true;
}
else
{
bool ok = true;
for (std::size_t j = 0 ; ok && j < groups_[i].subgroups_.size() ; ++j)
if (known_groups.find(groups_[i].subgroups_[j]) == known_groups.end())
ok = false;
if (ok)
{
known_groups.insert(groups_[i].name_);
update = true;
}
}
}
}
// if there are erroneous groups, keep only the valid ones
if (known_groups.size() != groups_.size())
{
std::vector<Group> correct;
for (std::size_t i = 0 ; i < groups_.size() ; ++i)
if (known_groups.find(groups_[i].name_) != known_groups.end())
correct.push_back(groups_[i]);
else
logError("Group '%s' has unsatisfied subgroups", groups_[i].name_.c_str());
groups_.swap(correct);
}
}
void srdf::Model::loadGroupStates(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml)
{
for (TiXmlElement* gstate_xml = robot_xml->FirstChildElement("group_state"); gstate_xml; gstate_xml = gstate_xml->NextSiblingElement("group_state"))
{
const char *sname = gstate_xml->Attribute("name");
const char *gname = gstate_xml->Attribute("group");
if (!sname)
{
logError("Name of group state is not specified");
continue;
}
if (!gname)
{
logError("Name of group for state '%s' is not specified", sname);
continue;
}
GroupState gs;
gs.name_ = boost::trim_copy(std::string(sname));
gs.group_ = boost::trim_copy(std::string(gname));
bool found = false;
for (std::size_t k = 0 ; k < groups_.size() ; ++k)
if (groups_[k].name_ == gs.group_)
{
found = true;
break;
}
if (!found)
{
logError("Group state '%s' specified for group '%s', but that group is not known", sname, gname);
continue;
}
// get the joint values in the group state
for (TiXmlElement* joint_xml = gstate_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
{
const char *jname = joint_xml->Attribute("name");
const char *jval = joint_xml->Attribute("value");
if (!jname)
{
logError("Joint name not specified in group state '%s'", sname);
continue;
}
if (!jval)
{
logError("Joint name not specified for joint '%s' in group state '%s'", jname, sname);
continue;
}
std::string jname_str = boost::trim_copy(std::string(jname));
if (!urdf_model.getJoint(jname_str))
{
bool missing = true;
for (std::size_t k = 0 ; k < virtual_joints_.size() ; ++k)
if (virtual_joints_[k].name_ == jname_str)
{
missing = false;
break;
}
if (missing)
{
logError("Joint '%s' declared as part of group state '%s' is not known to the URDF", jname, sname);
continue;
}
}
try
{
std::string jval_str = std::string(jval);
std::stringstream ss(jval_str);
while (ss.good() && !ss.eof())
{
std::string val; ss >> val >> std::ws;
gs.joint_values_[jname_str].push_back(boost::lexical_cast<double>(val));
}
}
catch (boost::bad_lexical_cast &e)
{
logError("Unable to parse joint value '%s'", jval);
}
if (gs.joint_values_.empty())
logError("Unable to parse joint value ('%s') for joint '%s' in group state '%s'", jval, jname, sname);
}
group_states_.push_back(gs);
}
}